LSM6DS3 Library by sj
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Diff: LSM6DS3.h
- Revision:
- 3:5f90ed3ba2e2
- Parent:
- 2:ed14e6196255
--- a/LSM6DS3.h Tue Jun 21 20:51:25 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,306 +0,0 @@ -// Based on Eugene Gonzalez's version of LSM9DS1_Demo -// Modified by Sherry Yang for LSM6DS3 sensor -#ifndef _LSM6DS3_H__ -#define _LSM6DS3_H__ - -#include "mbed.h" - -///////////////////////////////////////// -// LSM6DS3 Accel/Gyro (XL/G) Registers // -///////////////////////////////////////// -#define RAM_ACCESS 0x01 -#define SENSOR_SYNC_TIME 0x04 -#define SENSOR_SYNC_EN 0x05 -#define FIFO_CTRL1 0x06 -#define FIFO_CTRL2 0x07 -#define FIFO_CTRL3 0x08 -#define FIFO_CTRL4 0x09 -#define FIFO_CTRL5 0x0A -#define ORIENT_CFG_G 0x0B -#define REFERENCE_G 0x0C -#define INT1_CTRL 0x0D -#define INT2_CTRL 0x0E -#define WHO_AM_I_REG 0X0F -#define CTRL1_XL 0x10 -#define CTRL2_G 0x11 -#define CTRL3_C 0x12 -#define CTRL4_C 0x13 -#define CTRL5_C 0x14 -#define CTRL6_C 0x15 -#define CTRL7_G 0x16 -#define CTRL8_XL 0x17 -#define CTRL9_XL 0x18 -#define CTRL10_C 0x19 -#define MASTER_CONFIG 0x1A -#define WAKE_UP_SRC 0x1B -#define TAP_SRC 0x1C -#define D6D_SRC 0x1D -#define STATUS_REG 0x1E -#define OUT_TEMP_L 0x20 -#define OUT_TEMP_H 0x21 -#define OUTX_L_G 0x22 -#define OUTX_H_G 0x23 -#define OUTY_L_G 0x24 -#define OUTY_H_G 0x25 -#define OUTZ_L_G 0x26 -#define OUTZ_H_G 0x27 -#define OUTX_L_XL 0x28 -#define OUTX_H_XL 0x29 -#define OUTY_L_XL 0x2A -#define OUTY_H_XL 0x2B -#define OUTZ_L_XL 0x2C -#define OUTZ_H_XL 0x2D -#define SENSORHUB1_REG 0x2E -#define SENSORHUB2_REG 0x2F -#define SENSORHUB3_REG 0x30 -#define SENSORHUB4_REG 0x31 -#define SENSORHUB5_REG 0x32 -#define SENSORHUB6_REG 0x33 -#define SENSORHUB7_REG 0x34 -#define SENSORHUB8_REG 0x35 -#define SENSORHUB9_REG 0x36 -#define SENSORHUB10_REG 0x37 -#define SENSORHUB11_REG 0x38 -#define SENSORHUB12_REG 0x39 -#define FIFO_STATUS1 0x3A -#define FIFO_STATUS2 0x3B -#define FIFO_STATUS3 0x3C -#define FIFO_STATUS4 0x3D -#define FIFO_DATA_OUT_L 0x3E -#define FIFO_DATA_OUT_H 0x3F -#define TIMESTAMP0_REG 0x40 -#define TIMESTAMP1_REG 0x41 -#define TIMESTAMP2_REG 0x42 -#define STEP_COUNTER_L 0x4B -#define STEP_COUNTER_H 0x4C -#define FUNC_SR 0x53 -#define TAP_CFG 0x58 -#define TAP_THS_6D 0x59 -#define INT_DUR2 0x5A -#define WAKE_UP_THS 0x5B -#define WAKE_UP_DUR 0x5C -#define FREE_FALL 0x5D -#define MD1_CFG 0x5E -#define MD2_CFG 0x5F - -// Possible I2C addresses for the accel/gyro -#define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4) - -/** - * LSM6DS3 Class - driver for the 9 DoF IMU - */ -class LSM6DS3 -{ -public: - - /// gyro_scale defines the possible full-scale ranges of the gyroscope: - enum gyro_scale - { - G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second - G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps - G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps - G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps - }; - - /// gyro_odr defines all possible data rate/bandwidth combos of the gyro: - enum gyro_odr - { // ODR (Hz) --- Cutoff - G_POWER_DOWN = 0x00, // 0 0 - G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power - G_ODR_26_BW_2 = 0x20, // 26 2.07 low power - G_ODR_52_BW_16 = 0x30, // 52 16.32 low power - G_ODR_104 = 0x40, // 104 - G_ODR_208 = 0x50, // 208 - G_ODR_416 = 0x60, // 416 - G_ODR_833 = 0x70, // 833 - G_ODR_1660 = 0x80 // 1660 - }; - - /// accel_scale defines all possible FSR's of the accelerometer: - enum accel_scale - { - A_SCALE_2G, // 00: +/- 2g - A_SCALE_16G,// 01: +/- 16g - A_SCALE_4G, // 10: +/- 4g - A_SCALE_8G // 11: +/- 8g - }; - - /// accel_oder defines all possible output data rates of the accelerometer: - enum accel_odr - { - A_POWER_DOWN, // Power-down mode (0x0) - A_ODR_13, // 12.5 Hz (0x1) low power - A_ODR_26, // 26 Hz (0x2) low power - A_ODR_52, // 52 Hz (0x3) low power - A_ODR_104, // 104 Hz (0x4) normal mode - A_ODR_208, // 208 Hz (0x5) normal mode - A_ODR_416, // 416 Hz (0x6) high performance - A_ODR_833, // 833 Hz (0x7) high performance - A_ODR_1660, // 1.66 kHz (0x8) high performance - A_ODR_3330, // 3.33 kHz (0x9) high performance - A_ODR_6660, // 6.66 kHz (0xA) high performance - }; - - // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer: - enum accel_bw - { - A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0) - A_BW_408 = 0x4, // 408 Hz (0x4) - A_BW_211 = 0x5, // 211 Hz (0x5) - A_BW_105 = 0x6, // 105 Hz (0x6) - A_BW_50 = 0x7 // 50 Hz (0x7) - }; - - - - // We'll store the gyro, and accel, readings in a series of - // public class variables. Each sensor gets three variables -- one for each - // axis. Call readGyro(), and readAccel() first, before using - // these variables! - // These values are the RAW signed 16-bit readings from the sensors. - int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope - int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer - int16_t temperature_raw; - - // floating-point values of scaled data in real-world units - float gx, gy, gz; - float ax, ay, az; - float temperature_c, temperature_f; // temperature in celcius and fahrenheit - float intr; - - - /** LSM6DS3 -- LSM6DS3 class constructor - * The constructor will set up a handful of private variables, and set the - * communication mode as well. - * Input: - * - interface = Either MODE_SPI or MODE_I2C, whichever you're using - * to talk to the IC. - * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro. - * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G) - */ - LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1)); - - /** begin() -- Initialize the gyro, and accelerometer. - * This will set up the scale and output rate of each sensor. It'll also - * "turn on" every sensor and every axis of every sensor. - * Input: - * - gScl = The scale of the gyroscope. This should be a gyro_scale value. - * - aScl = The scale of the accelerometer. Should be a accel_scale value. - * - gODR = Output data rate of the gyroscope. gyro_odr value. - * - aODR = Output data rate of the accelerometer. accel_odr value. - * Output: The function will return an unsigned 16-bit value. The most-sig - * bytes of the output are the WHO_AM_I reading of the accel/gyro. - * All parameters have a defaulted value, so you can call just "begin()". - * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for - * gyro, 119 Hz for accelerometer. - * Use the return value of this function to verify communication. - */ - uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, - accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104, - accel_odr aODR = A_ODR_104); - - /** readGyro() -- Read the gyroscope output registers. - * This function will read all six gyroscope output registers. - * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read - * those _after_ calling readGyro(). - */ - void readGyro(); - - /** readAccel() -- Read the accelerometer output registers. - * This function will read all six accelerometer output registers. - * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read - * those _after_ calling readAccel(). - */ - void readAccel(); - - /** readTemp() -- Read the temperature output register. - * This function will read two temperature output registers. - * The combined readings are stored in the class' temperature variables. Read - * those _after_ calling readTemp(). - */ - void readTemp(); - - /** Read Interrupt **/ - void readIntr(); - - /** setGyroScale() -- Set the full-scale range of the gyroscope. - * This function can be called to set the scale of the gyroscope to - * 245, 500, or 2000 degrees per second. - * Input: - * - gScl = The desired gyroscope scale. Must be one of three possible - * values from the gyro_scale enum. - */ - void setGyroScale(gyro_scale gScl); - - /** setAccelScale() -- Set the full-scale range of the accelerometer. - * This function can be called to set the scale of the accelerometer to - * 2, 4, 8, or 16 g's. - * Input: - * - aScl = The desired accelerometer scale. Must be one of five possible - * values from the accel_scale enum. - */ - void setAccelScale(accel_scale aScl); - - /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope - * Input: - * - gRate = The desired output rate and cutoff frequency of the gyro. - * Must be a value from the gyro_odr enum (check above). - */ - void setGyroODR(gyro_odr gRate); - - /** setAccelODR() -- Set the output data rate of the accelerometer - * Input: - * - aRate = The desired output rate of the accel. - * Must be a value from the accel_odr enum (check above). - */ - void setAccelODR(accel_odr aRate); - - -private: - /** xgAddress store the I2C address - * for each sensor. - */ - uint8_t xgAddress; - - // I2C bus - I2C i2c; - - /** gScale, and aScale store the current scale range for each - * sensor. Should be updated whenever that value changes. - */ - gyro_scale gScale; - accel_scale aScale; - - /** gRes, and aRes store the current resolution for each sensor. - * Units of these values would be DPS (or g's or Gs's) per ADC tick. - * This value is calculated as (sensor scale) / (2^15). - */ - float gRes, aRes; - - /** initGyro() -- Sets up the gyroscope to begin reading. - * This function steps through all three gyroscope control registers. - */ - void initGyro(); - - /** initAccel() -- Sets up the accelerometer to begin reading. - * This function steps through all accelerometer related control registers. - */ - void initAccel(); - - /** Setup Interrupt **/ - void initIntr(); - - /** calcgRes() -- Calculate the resolution of the gyroscope. - * This function will set the value of the gRes variable. gScale must - * be set prior to calling this function. - */ - void calcgRes(); - - /** calcaRes() -- Calculate the resolution of the accelerometer. - * This function will set the value of the aRes variable. aScale must - * be set prior to calling this function. - */ - void calcaRes(); -}; - -#endif // _LSM6DS3_H //